新增独立RTK与IMU外参标定流程及质量验证

artifacts/rtk_imu_calibration_v1/all_sessions/rotation_result.json

@@ -0,0 +1,130 @@
+{
+  "R_RTK_IMU": [
+    [
+      0.9996841792313951,
+      0.02499811511405725,
+      -0.002576050309343804
+    ],
+    [
+      -0.025002617750669198,
+      0.9996858874629868,
+      -0.0017307550243271697
+    ],
+    [
+      0.002531975526313299,
+      0.0017946164171362589,
+      0.9999951842143289
+    ]
+  ],
+  "rpy_deg": [
+    0.1028243313393031,
+    -0.1450716664951083,
+    -1.43269836393699
+  ],
+  "gyro_bias_by_session_rad_s": {
+    "priority_174005_174515": [
+      -8.90944066727157e-05,
+      7.078609864979291e-05,
+      0.0001460390779870233
+    ],
+    "priority_174905_175450": [
+      -4.327374730750894e-05,
+      -0.0001097548390022348,
+      3.000549725593387e-05
+    ],
+    "priority_175910_180530": [
+      -7.036551812132934e-05,
+      -0.0008054961048184173,
+      1.3026193503057623e-05
+    ],
+    "slope_190548_190730": [
+      6.035222904568755e-05,
+      -8.913884157613711e-06,
+      0.00015470949872434692
+    ],
+    "circle_193412_193642": [
+      -3.696799268832588e-05,
+      -0.00019200076224600124,
+      -5.9567987995056394e-05
+    ],
+    "loop_194223_195003": [
+      -0.0001979655352189002,
+      -0.00015937450336643818,
+      -4.343089303706036e-05
+    ],
+    "accel_195608_195958": [
+      -7.841839817698704e-05,
+      -2.604932294598783e-06,
+      5.8586555655011475e-05
+    ],
+    "motion_sms_154023_154359": [
+      0.00011745666467620586,
+      0.00021434926285955486,
+      -4.5147354343760625e-05
+    ]
+  },
+  "time_offset": {
+    "offset_s": 0.04000000000000031,
+    "peak_correlation": 0.5788788671828708,
+    "second_best_correlation": 0.5773967219219845,
+    "evaluated_samples": 12394,
+    "reliable": false
+  },
+  "applied_time_offset_s": 0.0,
+  "convention": {
+    "name": "north_cw__pitch_nose_up__roll_right_down",
+    "heading_sign": -1.0,
+    "pitch_sign": -1.0,
+    "roll_sign": 1.0
+  },
+  "convention_scores_deg": {
+    "north_cw__pitch_nose_up__roll_right_down": 1.631322241364994,
+    "north_cw__pitch_opposite": 1.737582794831228,
+    "heading_opposite__pitch_nose_up": 7.263259116648845,
+    "heading_opposite__pitch_opposite": 17.716319437929055
+  },
+  "pair_count": 731,
+  "residual_rms_deg": 1.6276839301413086,
+  "residual_median_deg": 0.5695938849052221,
+  "residual_p95_deg": 3.0903953005641345,
+  "rotation_std_deg": [
+    0.2340126126406699,
+    0.20048574131667432,
+    2.314692068045375
+  ],
+  "information_singular_values": [
+    82178.77940373585,
+    60441.86300479194,
+    612.6358640387364
+  ],
+  "per_session_rms_deg": {
+    "priority_174005_174515": 0.6134232617562615,
+    "priority_174905_175450": 2.2485932625979106,
+    "priority_175910_180530": 3.095861798757508,
+    "slope_190548_190730": 2.388478834012087,
+    "circle_193412_193642": 0.5629885032374518,
+    "loop_194223_195003": 0.6250976606325254,
+    "accel_195608_195958": 0.975856888271022,
+    "motion_sms_154023_154359": 1.3698317592842066
+  },
+  "loo_delta_deg": {
+    "priority_174005_174515": 0.7895996403426686,
+    "priority_174905_175450": 0.9224102138653388,
+    "priority_175910_180530": 5.144190932547379,
+    "slope_190548_190730": 0.24769087330915346,
+    "circle_193412_193642": 1.2637729378484346,
+    "loop_194223_195003": 0.4844375238260164,
+    "accel_195608_195958": 1.0976412402728102,
+    "motion_sms_154023_154359": 0.6896079810115167
+  },
+  "ok": false,
+  "notes": [
+    "transform convention: p_RTK = R_RTK_IMU p_IMU",
+    "residual time convention: t_IMU = t_RTK + +0.000000 s",
+    "GNHPR convention score gap=0.1063 deg",
+    "GNHPR alternatives use zero-bias prescreen scores; only the winner is jointly refined",
+    "LOO is conditional: per-session gyro biases are held at their all-session estimates",
+    "time-offset correlation was ambiguous; held residual offset at zero",
+    "rotation failed one or more strict acceptance gates"
+  ]
+}